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Team997Coders / pyswerve_2024

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Test disabling swerve when shooting #49

Open jamesra opened 8 months ago

jamesra commented 8 months ago

When the operator triggers a shoot, turn off the swerve motors?

jamesra commented 8 months ago

The idea behind this is it prevents the operator from pushing into a wall, drawing current from the shooter/indexer motors and changing power of the shot.

Philipp-BH commented 8 months ago

We might not want to turn off the swerve motors, but I can look into graphing current usage of swerve drive motors while the swerve drive is running so I can set some reasonable current limits in sparkMax firmware with the hardware client. This might make any other solution unnecessary; depends on how high the current limits need to be. Hopefully they can be set low enough that even a full stall will not lead to brownouts